// reference robosense doc
#ifndef POINTXYZIRT_H
#define POINTXYZIRT_H
#define PCL_NO_PRECOMPILE

#include <pcl/io/io.h>
#include <pcl/point_types.h>

namespace pcl {
struct RsPointXYZIRT
{
  PCL_ADD_POINT4D;
  uint8_t intensity;
  uint16_t ring = 0;
  double timestamp = 0;
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
} EIGEN_ALIGN16;
}

POINT_CLOUD_REGISTER_POINT_STRUCT(RsPointXYZIRT, 
(float, x, x)
(float, y, y)
(float, z, z)
(uint8_t, intensity, intensity)
(uint16_t, ring, ring)
(double, timestamp, timestamp)
)
#endif